Fitting an encoder to non Tormach mill (5i25)

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8 years 1 month ago #117325 by rafferty
Fitting an encoder to non Tormach mill (5i25) was created by rafferty
I've fitted a DIY optical encoder to the mill spindle, giving index pulse and two quadrature phase outputs.

Read the "Fitting an encoder on a Tormach 1100" thread and realise Tormach's modified encoder just takes a pulse per rev input.

Had a play with "num_encoders=" parameter, (setting to 0, 1 , 2) under v1.9.13 and now under v2.1.3, results are the same.

num_encoders=0, as expected no encoder.
Code:
hm2/hm2_5i25.0: IO Pin 000 (P3-01): StepGen #4, pin Step (Output) hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort hm2/hm2_5i25.0: IO Pin 002 (P3-02): StepGen #0, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 003 (P3-15): IOPort hm2/hm2_5i25.0: IO Pin 004 (P3-03): StepGen #0, pin Step (Output) hm2/hm2_5i25.0: IO Pin 005 (P3-16): IOPort hm2/hm2_5i25.0: IO Pin 006 (P3-04): StepGen #1, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 007 (P3-17): PWMGen #0, pin Out0 (PWM or Up) (Output) hm2/hm2_5i25.0: IO Pin 008 (P3-05): StepGen #1, pin Step (Output) hm2/hm2_5i25.0: IO Pin 009 (P3-06): StepGen #2, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 010 (P3-07): StepGen #2, pin Step (Output) hm2/hm2_5i25.0: IO Pin 011 (P3-08): StepGen #3, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 012 (P3-09): StepGen #3, pin Step (Output) hm2/hm2_5i25.0: IO Pin 013 (P3-10): IOPort hm2/hm2_5i25.0: IO Pin 014 (P3-11): IOPort hm2/hm2_5i25.0: IO Pin 015 (P3-12): IOPort hm2/hm2_5i25.0: IO Pin 016 (P3-13): IOPort hm2/hm2_5i25.0: IO Pin 017 (P2-01): IOPort hm2/hm2_5i25.0: IO Pin 018 (P2-14): IOPort hm2/hm2_5i25.0: IO Pin 019 (P2-02): IOPort hm2/hm2_5i25.0: IO Pin 020 (P2-15): IOPort hm2/hm2_5i25.0: IO Pin 021 (P2-03): IOPort hm2/hm2_5i25.0: IO Pin 022 (P2-16): IOPort hm2/hm2_5i25.0: IO Pin 023 (P2-04): IOPort hm2/hm2_5i25.0: IO Pin 024 (P2-17): IOPort hm2/hm2_5i25.0: IO Pin 025 (P2-05): IOPort hm2/hm2_5i25.0: IO Pin 026 (P2-06): IOPort hm2/hm2_5i25.0: IO Pin 027 (P2-07): IOPort hm2/hm2_5i25.0: IO Pin 028 (P2-08): IOPort hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort

num_encoders=1, adds the pulse per rev encoder over the IO Pin 016
Code:
hm2/hm2_5i25.0: IO Pin 000 (P3-01): StepGen #4, pin Step (Output) hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort hm2/hm2_5i25.0: IO Pin 002 (P3-02): StepGen #0, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 003 (P3-15): IOPort hm2/hm2_5i25.0: IO Pin 004 (P3-03): StepGen #0, pin Step (Output) hm2/hm2_5i25.0: IO Pin 005 (P3-16): IOPort hm2/hm2_5i25.0: IO Pin 006 (P3-04): StepGen #1, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 007 (P3-17): PWMGen #0, pin Out0 (PWM or Up) (Output) hm2/hm2_5i25.0: IO Pin 008 (P3-05): StepGen #1, pin Step (Output) hm2/hm2_5i25.0: IO Pin 009 (P3-06): StepGen #2, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 010 (P3-07): StepGen #2, pin Step (Output) hm2/hm2_5i25.0: IO Pin 011 (P3-08): StepGen #3, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 012 (P3-09): StepGen #3, pin Step (Output) hm2/hm2_5i25.0: IO Pin 013 (P3-10): IOPort hm2/hm2_5i25.0: IO Pin 014 (P3-11): IOPort hm2/hm2_5i25.0: IO Pin 015 (P3-12): IOPort hm2/hm2_5i25.0: IO Pin 016 (P3-13): Encoder #0, pin Index (Input) hm2/hm2_5i25.0: IO Pin 017 (P2-01): IOPort hm2/hm2_5i25.0: IO Pin 018 (P2-14): IOPort hm2/hm2_5i25.0: IO Pin 019 (P2-02): IOPort hm2/hm2_5i25.0: IO Pin 020 (P2-15): IOPort hm2/hm2_5i25.0: IO Pin 021 (P2-03): IOPort hm2/hm2_5i25.0: IO Pin 022 (P2-16): IOPort hm2/hm2_5i25.0: IO Pin 023 (P2-04): IOPort hm2/hm2_5i25.0: IO Pin 024 (P2-17): IOPort hm2/hm2_5i25.0: IO Pin 025 (P2-05): IOPort hm2/hm2_5i25.0: IO Pin 026 (P2-06): IOPort hm2/hm2_5i25.0: IO Pin 027 (P2-07): IOPort hm2/hm2_5i25.0: IO Pin 028 (P2-08): IOPort hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort

num_encoders=2, adds the pulse per rev encoder but also what looks like a 'real' index and 2 phase encoder on P2, the second DB25.
Code:
hm2/hm2_5i25.0: IO Pin 000 (P3-01): StepGen #4, pin Step (Output) hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort hm2/hm2_5i25.0: IO Pin 002 (P3-02): StepGen #0, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 003 (P3-15): IOPort hm2/hm2_5i25.0: IO Pin 004 (P3-03): StepGen #0, pin Step (Output) hm2/hm2_5i25.0: IO Pin 005 (P3-16): IOPort hm2/hm2_5i25.0: IO Pin 006 (P3-04): StepGen #1, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 007 (P3-17): PWMGen #0, pin Out0 (PWM or Up) (Output) hm2/hm2_5i25.0: IO Pin 008 (P3-05): StepGen #1, pin Step (Output) hm2/hm2_5i25.0: IO Pin 009 (P3-06): StepGen #2, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 010 (P3-07): StepGen #2, pin Step (Output) hm2/hm2_5i25.0: IO Pin 011 (P3-08): StepGen #3, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 012 (P3-09): StepGen #3, pin Step (Output) hm2/hm2_5i25.0: IO Pin 013 (P3-10): IOPort hm2/hm2_5i25.0: IO Pin 014 (P3-11): IOPort hm2/hm2_5i25.0: IO Pin 015 (P3-12): IOPort hm2/hm2_5i25.0: IO Pin 016 (P3-13): Encoder #0, pin Index (Input) hm2/hm2_5i25.0: IO Pin 017 (P2-01): IOPort hm2/hm2_5i25.0: IO Pin 018 (P2-14): IOPort hm2/hm2_5i25.0: IO Pin 019 (P2-02): IOPort hm2/hm2_5i25.0: IO Pin 020 (P2-15): IOPort hm2/hm2_5i25.0: IO Pin 021 (P2-03): IOPort hm2/hm2_5i25.0: IO Pin 022 (P2-16): IOPort hm2/hm2_5i25.0: IO Pin 023 (P2-04): IOPort hm2/hm2_5i25.0: IO Pin 024 (P2-17): IOPort hm2/hm2_5i25.0: IO Pin 025 (P2-05): IOPort hm2/hm2_5i25.0: IO Pin 026 (P2-06): IOPort hm2/hm2_5i25.0: IO Pin 027 (P2-07): IOPort hm2/hm2_5i25.0: IO Pin 028 (P2-08): IOPort hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort hm2/hm2_5i25.0: IO Pin 030 (P2-10): Encoder #1, pin Index (Input) hm2/hm2_5i25.0: IO Pin 031 (P2-11): Encoder #1, pin A (Input) hm2/hm2_5i25.0: IO Pin 032 (P2-12): Encoder #1, pin B (Input) hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort

Does anyone know anything about this 2nd encoder? Is it available ?

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8 years 1 month ago #117328 by Clive S
Replied by Clive S on topic Fitting an encoder to non Tormach mill (5i25)
This is the code I am using on the Tormach.

net spindle-position hm2_5i25.0.encoder.00.position => motion.spindle-revs
net spindle-velocity hm2_5i25.0.encoder.00.velocity => motion.spindle-speed-in
net spindle-index-enable hm2_5i25.0.encoder.00.index-enable <=> motion.spindle-index-enable
setp hm2_5i25.0.encoder.00.scale -4000

With halmeter you will need to find the names of your (hm2_5125.0.encoder.00.position) it could be )01 etc. and the same for the other pins. You might also have to remove the - sign for the scale if it is counting the wrong way

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8 years 1 month ago #117329 by rafferty
Replied by rafferty on topic Fitting an encoder to non Tormach mill (5i25)
Didn't you end up using a 7i85 encoder and a custom 5i25 bitfile?

Is the code you suggest for that 7i85/5i25 custom bitfile configuration?

I would like to use just the 5i25 with the newly found "real" encoder if possible.

Will do some testing of the newly found encoder with your suggested code.

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8 years 1 month ago #117348 by Clive S
Replied by Clive S on topic Fitting an encoder to non Tormach mill (5i25)
Yes I am using the custom bit file for a 7i85 but this is because I wanted 3 mpg's and the spindle encoder and it provided a neat way of doing it.

You will be able to use the high speed encoder on the second port . if you connect it up you should see the pins change state with the halmeter.

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8 years 1 month ago #117354 by PCW
Replied by PCW on topic Fitting an encoder to non Tormach mill (5i25)
I'm pretty sure Tormach 1 pin encoder (for RapidTurn) does not work as a standard encoder
even if the A,B lines are brought out.

If you dont have a Tormach machine, I would use a non-Tormach bitfile with standard encoders

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8 years 1 month ago #117368 by rafferty
Replied by rafferty on topic Fitting an encoder to non Tormach mill (5i25)

PCW wrote: I'm pretty sure Tormach 1 pin encoder (for RapidTurn) does not work as a standard encoder
even if the A,B lines are brought out.


Is it possible encoder 0 is Tormach pulse per rev, and encoder >0 is standard...?

PCW wrote: If you dont have a Tormach machine, I would use a non-Tormach bitfile with standard encoders


It's non Tormach but I'm committed to their DB25 P3 pinout because of the interface hardware I built which looks exactly like a Tormach to the 5i25, down to the watchdog.

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8 years 1 month ago #117505 by rafferty
Replied by rafferty on topic Fitting an encoder to non Tormach mill (5i25)
Today I did some experimentation with num_encoders=2.

Initially just added 2 encoders to the 100-3 ini file and used ADMIN HALMETER to look at the 2nd encoder's pins while I pulled the A, B and Index pins high and low. This worked.

Connected my DIY optical sensor's A, B and Index outputs to the encoder inputs, added simple encoder initialisation code to postgui file and again used halmeter to look at the signals.

There's a velocity output signal that is at least roughly proportional to spindle RPM from 200 to 3000 RPM and the sign is correct with respect to direction (after I swapped the A and B phases of course). The velocity value jumps about a bit, around +/-10 %, signal looks pretty clean on a CRO.

Is this worth persisting with?

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8 years 1 month ago #117507 by Clive S
Replied by Clive S on topic Fitting an encoder to non Tormach mill (5i25)
Watching with interest. Did you try the code above in post #117328

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8 years 1 month ago #117508 by rafferty
Replied by rafferty on topic Fitting an encoder to non Tormach mill (5i25)

Clive s wrote: Watching with interest. Did you try the code above in post #117328


Sorry, no, not today, it might be a bit early to risk that. I was reading up on encoders this afternoon.

I'm not really confident what I'm seeing as velocity is correct. I'll feed it a clean square wave tomorrow and see if that's stable, if yes the +/-10% variation has an external cause.

Your code is for G33 co-ordianted motion I recall.

At one stage I took some bits of the duality ini and hal files and had actual spindle RPM on the DRO, I'll have to dive in to the UI python again, see if I can work out what I did.

Ken

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8 years 1 month ago #117523 by andypugh
Replied by andypugh on topic Fitting an encoder to non Tormach mill (5i25)

rafferty wrote: Is this worth persisting with?


It sounds like it. You just need to make that encoder (speed, position) go to the right pins in HAL.

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